"""
Defines the object 'arm' in the current workspace

Also define the vector qz = [pi/4,0,-pi/3]
"""

from roboticstoolbox.robot.serial_link import *


class Uprighttl(SerialLink):

    def __init__(self):
        L = [Link(a=0.1, alpha=pi / 2, jointtype='R'),
             Link(a=1.0, jointtype='R'),
             Link(a=1.0, jointtype='R'),
             Link(a=0.5, jointtype='R')]

        self._qz = [0, 0, 0, 0]

        super(Uprighttl, self).__init__(L, name='Upright Arm')

    @property
    def qz(self):
        return self._qz
